This thesis evaluates two automatic control systems, PID and LQ, for the purpose of controlling the steel marble in a Brio labyrinth game. The objective has been for these automatic control strategies to bring the marble through the labyrinth and examine how well they handle this problem. A mathematical model of the problem was derived and a detailed model of the labyrinth game was established in Mathworks software Simscape to streamline the development of the structural design and control system. Based on the Simscape model, the labyrinth game was modified with hardware necessary to perform the task. Before the development of the control system commenced, tests were carried out to study the marbles movement in the two models compared with the labyrinth game. This proved that the friction in the labyrinth game is non-linear compared to the models which both showed similar behavior. The control system was then implemented to be tested and evaluated in the Simscape model as well as the labyrinth game. In the Simscape model, they both perform equally well and the PID- and LQ-controller can easily bring the marble through the labyrinth. In the labyrinth game, the LQ controller succeeds in bringing the marble through the labyrinth in 45\% of cases, while the corresponding for the PID controller is 25\%. The LQ controller was the one that generally had the best performance and was able to handle the marbles movement despite the non-linearities. The PID controller's performance was poorer, which is largely due to said non-linearities but also noise in the system, which the LQ controller is not affected as much by. The study shows that non-linearities such as friction are difficult to model. The model-based design is a good method but can be time consuming and the end result can make it difficult to motivate in many cases.

För att kunna framföra ett fordon på ett säkert sätt är vindrutetorkning är en viktig del. Men, bara för att det är en viktig del i användandet innebär det inte att det är en viktig del i utvecklingen. Detta har visat sig genom att funktionen och designen av vindrutetorkare på lastbilar har varit densamma i årtionden. När hytten till Scanias senaste lastbilsmodell designades så minskades tjockleken på torpedväggen för att spara vikt. Detta minskade även styvheten i hytten, vilket fick de vibrationer som inducerades vid körning av vindrutetorkarna att nå en kritisk gräns. Problemställningen för detta exjobb var därför att förstå ursprunget till dessa vibrationer och hur delsystemen interagerar med varandra genom att utföra modellbaserad utveckling (MBD). Uppgiften var att undersöka vilka ändringar som behövde genomföras i styrningen av vindrutetorkarna och systemspecifikationen för den inbyggda styrenheten för att reducera vibrationerna och säkerställa Scanias position som premiummärke även i framtiden. Vindrutetorkarsystemet modellerades i Simulink, med både Simulink-block och Simscapemodeller. En strömberoende spänningskontroller för rörelsestyrning utvecklades för att sedan verifieras på nuvarande hårdvara. Rekommendationer för framtida arbete på ECU gällande systemfrekvens för mätning samt algoritmdesign gjordes, samt helhetstänket vid design av ett nytt system poängterades. Resultaten visar att styrning av en likströmsmotor med ström som ingångsparameter är komplicerat då strömmen varierar kraftigt på grund av störningar. Algoritmen som behandlar mätdatat måste därför vara väldigt robust eftersom filtrering påverkar systemet genom att lägga till fas i kontrollern, vilket ger eftersläpningar. Kommande arbetsinsatser bör fokusera på hur man väljer komponenter som matchar varandra gällande likströmsmotor och ECU. Desto mer logik som placeras i motorn, desto mindre datorkraft behövs i den inbyggda styrenheten. / Windscreen wiping is an important part of driving safety and vehicle maneuverability. However, importance does not automatically imply progression, and the wiping functionality for heavy commercial vehicles have remained roughly the same through decades. When redesigning the cab for the latest truck generation at Scania, the thickness of the firewall was reduced to save weight.This reduced the stiffness of the cab, which made the vibrations in the throttle pedal from actuating the windscreen wiper rise to a critical level.The problem definition in this thesis was to understand the root-cause and cooperation in the system by doing modelling and Model-Based Design (MBD), rather than starting with experimental verification. The task was to investigate what changes needed to be made in the controlling of the wiper motor and system specification of the ECU to reduce vibrations and ensure Scania's position as a premium brand in the future. The windscreen wiping system was modelled in Simulink, with both Simulink blocks and Simscape models. A current-measuring voltage-controller for motion-profiles was developed and verified on real production hardware. Recommendation for future development of next ECU generation regarding sampling time and controller design was made and the importance of considering the whole system design was emphasized. Results showed that controlling with current measurement of DC-motors as input parameter is avolatile approach due to disturbances. The algorithms depending on this measurement needs to be very robust, since filtering adds unwanted delay to the control loop. Further investigations should be made in the component selection when mapping motors with the correct driver. The more logic placed in the motor, the less need for a complex ECU and vice versa.